Systems and methods for estimating shape, contact forces, and pose of objects manipulated by robots having compliant contact and geometry sensors
US12048998B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 26, 2023 |
| Grant date | Jul 30, 2024 |
| Priority date | — |
| Expiry date | May 26, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01L5/0061
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Systems and methods for estimating deformation and field of contact forces are described. A method includes generating a reference configuration including reference points in space. The reference configuration corresponds to an initial shape of a membrane prior to contact with the manipuland. The method further includes receiving raw data from a TOF device. The raw data includes points in space measured by the TOF device and indicating deformation of the membrane due to contact with the manipuland. The method further includes determining deformation of the membrane that best approximates a current configuration in a least squares sense while satisfying a discrete physical model enforced as a linear constraint that corresponds to a linearized physical model of the deformation that is discretized with an FEM, linearizing the relationship, and estimating deformation and field of contact forces by solving a least squares formulation with physical constraints cast as a sparse quadratic program.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.